Diff: IMU/IMU_10DOF.h

Revision:

0:12950aa67f2a

Child:

2:03e5f7ab473f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IMU/IMU_10DOF.h	Mon Sep 02 15:04:22 2013 +0000
@@ -0,0 +1,40 @@
+// by MaEtUgR
+
+#ifndef IMU_10DOF_H
+#define IMU_10DOF_H
+
+#include "mbed.h"
+#include "L3G4200D.h"   // Gyro (Gyroscope)
+#include "ADXL345.h"    // Acc (Accelerometer)
+#include "HMC5883.h"    // Comp (Compass)
+#include "BMP085.h"     // Alt (Altitude sensor or Barometer)
+#include "IMU_Filter.h" // Class to calculate position angles  (algorithm from S.O.H. Madgwick, see header file for info)
+
+class IMU_10DOF
+{           
+    public:
+        IMU_10DOF(PinName sda, PinName scl);
+        void readAngles();              // read all axis from register to array data
+        void readAltitude();            // read all axis from register to array data
+        
+        float * angle;                  // where the measured and calculated data is saved
+        float temperature;
+        float pressure;
+        float altitude;
+        
+        float dt;                       // local time to calculate processing speed for entire loop and just reading sensors
+        float dt_sensors;               // |
+    //private:                            // |
+        Timer LocalTimer;               // |
+        float time_for_dt;              // |
+        float time_for_dt_sensors;      // |
+        
+        L3G4200D    Gyro;               // All sensors Hardwaredrivers
+        ADXL345     Acc;
+        HMC5883     Comp;
+        BMP085      Alt;
+        
+        IMU_Filter  Filter;             // Filterclass to join sensor data
+};
+
+#endif
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